JP2016527998A5

JP2016527998A5 -

Info

Publication number: JP2016527998A5
Application number: JP2016535393A
Authority: JP
Filing date: 2014-07-31
Publication date: 2017-08-31
Anticipated expiration: 2034-07-31

Claims

Preferably, a method for identifying the posture of an object that is a medical device,
a) providing an object, preferably a medical device, comprising at least one visual identification element and an orientation sensor for determining an absolute orientation and / or angular velocity of said object;
b) at least two cameras adapted to visually track the at least one visual identification element, each having a field of view and stationary during the method, at least defining a camera coordinate system Preparing two cameras,
c) obtaining image data of the field of view of the at least two cameras while the object is moving;
d) obtaining orientation data provided by the orientation sensor while the object is moving;
e) calibrating the orientation sensor with respect to the camera coordinate system;
f) analyzing the image data and the orientation data to identify a posture of the object during the movement of the object;
Including
f1) If at least part of the visual identification element can be confirmed by both cameras sufficiently to identify the orientation of the object, the orientation of the object is based on the orientation data and / or the image data Identified,
f2) If the visual identification element cannot be confirmed by both cameras enough to identify the orientation of the object, the orientation of the object is determined based only on the orientation data;
f3) if at least part of the visual identification element can be confirmed by both cameras sufficiently to identify the position of the object, the position of the object is determined based only on the image data;
f4) If at least part of the visual identification element can be confirmed by both cameras enough to identify the part and locate the part, the position of the object is determined by step f1) or f2 ) Is specified based on the combination of the image data and the orientation data specified by
A method characterized by that.

Step f1) estimates the accuracy with which the orientation of the object is specified based only on the orientation data and the accuracy with which the orientation of the object is specified based only on the image data. In step f1), higher accuracy is obtained. Further comprising using the resulting procedure,
The method of claim 1.

If even during the first time interval even part of the visual identification element cannot be confirmed by both cameras enough to identify the part and locate the part, the position of the object is Identified based on interpolation,
The method according to claim 1 or 2.

The interpolation is based on the position of the object identified immediately before the first time interval and / or the position of the object identified immediately after the first time interval.
The method of claim 3.

The interpolation is based on the velocity and / or acceleration of the object identified immediately before the first time interval and / or the velocity and / or acceleration of the object identified immediately after the first time interval. ,
The method according to claim 3 or 4.

Identifying the position and / or orientation of the visual identification element relative to the object and / or identifying the orientation of the orientation sensor relative to the object.
The method according to claim 1.

The visual identification element includes a plurality of sub-elements and / or portions that can be distinguished from each other and identified by the camera, and the step of identifying the position and / or orientation of the visual identification element relative to the object comprises: And / or identifying each of the portions and determining the position of each of the sub-elements and / or the portions with respect to the object,
The method of claim 6.

The visual identification element includes 3 or 4 or more discrete marker elements, 2 or 3 or more barcodes, 1 or 2 or more 2D barcodes, regular patterns, irregular patterns, arbitrary patterns, geometric shapes, 2D or 3D surface of part of the object or the entire object, active and / or passive markers, retroreflective markers, active markers adapted to change appearance over time or in a predetermined cycle Including one or a combination thereof,
The method according to claim 1.

The orientation sensor includes a rate gyro and / or a compass,
The method according to claim 1.

The step of calibrating the azimuth sensor with respect to the camera coordinate system includes: i) obtaining image data of a field of view of the at least two cameras at a first time, and based on the image data, the step at the first time. Identifying the orientation of the object; ii) obtaining the orientation data provided by the orientation sensor at the first time and identifying the orientation of the object at the first time based on the orientation data And iii) calibrating the orientation sensor with respect to the camera coordinate system by associating the orientations of the objects identified based on steps i) and ii) with each other.
10. A method according to any one of claims 1-9.

The step of calibrating the orientation sensor with respect to the camera coordinate system is performed at a plurality of time points while the object is moving, and the posture at a given time point is the most in time at the given time point. Identified based on calibration of the near object,
The method according to claim 1.

In order to achieve an indication of the calibration performed normally according to step e), the current accuracy of identifying the orientation from the image data, the current accuracy of identifying the orientation from the orientation data, a predetermined level of accuracy Feedback is provided to the user including one or a combination of instructions as to when calibration of
12. A method according to any one of claims 1 to 11.

The object is a handheld medical device, preferably an ultrasound probe;
The method according to claim 1.

An ultrasound device for ultrasound imaging, comprising an ultrasound probe, at least two cameras, and a processor, the ultrasound probe comprising at least one visual identification element and an absolute An azimuth sensor for determining azimuth and / or angular velocity, the processor comprising method steps c) to f) of claim 1 and optionally method steps of claims 2 to 7 and claims 9 to 11. Adapted to perform,
An ultrasonic device characterized by that.

The visual identification element includes 3 or 4 or more discrete marker elements, 2 or 3 or more barcodes, 1 or 2 or more 2D barcodes, regular patterns, irregular patterns, arbitrary patterns, geometric shapes, 2D or 3D surface of part of the object or the entire object, active and / or passive markers, retroreflective markers, active markers adapted to change appearance over time or in a predetermined cycle Including one or a combination thereof,
The ultrasonic device according to claim 14 .